Diff: main.cpp

Revision:

0:b3809a8d9af1

Child:

1:96cd4c9c5465

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 21 13:35:52 2014 +0000
@@ -0,0 +1,106 @@
+/***************************************/
+/*                                     */
+/*   BRONCODE GROEP 5, MODULE 9, 2014  */
+/*       *****-THE SLAP-******         */
+/*                                     */
+/* -Dominique Clevers                  */
+/* -Rianne van Dommelen                */
+/* -Daan de Muinck Keizer              */
+/* -David den Houting                  */
+/* -Marjolein Thijssen                 */
+/***************************************/
+#include "mbed.h"
+#include "HIDScope.h"
+#include "arm_math.h"
+#include "encoder.h"
+
+#define M1_PWM PTC8 //blauw
+#define M1_DIR PTC9 //groen
+#define M2_PWM PTA5 //blauw
+#define M2_DIR PTA4 //groen
+#define TSAMP 0.005  // Sampletijd, 200Hz
+#define PI 3.1415926535897
+
+Encoder motor1(PTD2,PTD0); //geel,wit
+Encoder motor2(PTD5,PTA13);//geel,wit
+PwmOut pwm_motor1(M1_PWM);
+PwmOut pwm_motor2(M2_PWM);
+DigitalOut motordir2(M2_DIR);
+DigitalOut motordir1(M1_DIR);
+AnalogIn emg0(PTB0); //Biceps
+AnalogIn emg1(PTB1); //Triceps
+HIDScope scope(6);
+
+MODSERIAL pc (USBTX,USBRX,64,1024);
+pc.baud(115200);
+
+int const   windowsamples = 60; //aantal samples waaruit het window voor MOVAG bestaat
+
+float emg0_value_f32,filtered_emg0_notch,filtered_emg0_notch_highpass,filtered_emg0_notch_highpass_lowpass,filtered_emg0_eindsignaal_abs; //variable to store value in for biceps 
+float emg1_value_f32,filtered_emg1_notch,filtered_emg1_notch_highpass,filtered_emg1_notch_highpass_lowpass,filtered_emg1_eindsignaal_abs; //variable to store value in for triceps 
+float xpos_max,xpos_min,xneg_max,xneg_min;     //kalibratiewaardes
+
+float emg_biceps [windowsamples];
+float emg_triceps [windowsamples];
+
+void meting()
+{
+    arm_biquad_casd_df1_inst_f32 notch;
+    //constants for 50Hz notch
+    float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924};
+    //state values
+    float notch_states[4];
+    arm_biquad_casd_df1_inst_f32 highpass;
+    //constants for 20Hz highpass
+    float highpass_const[] = {0.638945525159022, -1.277891050318045, 0.638945525159022, 1.142980502539901, -0.412801598096189};
+    //state values
+    float highpass_states[4];
+    //constants for 80Hz lowpass
+    arm_biquad_casd_df1_inst_f32 lowpass;
+    float lowpass_const[] = {0.638945525159022, 1.277891050318045, 0.638945525159022, -1.142980502539901, -0.412801598096189};
+    //state values
+    float lowpass_states[4];
+ 
+    /*put raw emg value in emg_value*/
+    emg0_value_f32 = emg0.read();   
+    emg1_value_f32 = emg1.read();
+ 
+    //process emg biceps
+    arm_biquad_cascade_df1_f32(&notch, &emg0_value_f32, &filtered_emg0_notch, 1 );
+    arm_biquad_cascade_df1_f32(&highpass, &filtered_emg0_notch, &filtered_emg0_notch_highpass, 1 );
+    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg0_notch_highpass, &filtered_emg0_notch_highpass_lowpass, 1 );
+    filtered_emg0_eindsignaal_abs = fabs(filtered_emg0_notch_highpass_lowpass);  
+    emg_biceps [0]= filtered_emg0_eindsignaal_abs;
+    
+    //process emg triceps
+    arm_biquad_cascade_df1_f32(&notch, &emg1_value_f32, &filtered_emg1_notch, 1 );
+    arm_biquad_cascade_df1_f32(&highpass, &filtered_emg1_notch, &filtered_emg1_notch_highpass, 1 );
+    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg1_notch_highpass, &filtered_emg1_notch_highpass_lowpass, 1 );
+    filtered_emg1_eindsignaal_abs = fabs(filtered_emg1_notch_highpass_lowpass);  
+    emg_triceps [0]= filtered_emg1_eindsignaal_abs;
+    
+    //Movag
+    //Variabelen voor berekenen gemiddelden 
+    float avg0,avg1;
+    avg0=avg1=0;
+    
+    //Inhoud van een buffer (=gefilterd signaal) optellen
+    for(int x=0; x<windowsamples; x++) {
+        avg0 = avg0 + (emg_biceps[x]);
+        avg1 = avg1 + (emg_triceps[x]);
+    }
+    
+    //Gemiddelde berekenen en relativeren tov maximum voluntary contraction
+    avg0 = gain_biceps*avg0/windowsamples/biceps_max;
+    avg1 = gain_triceps*avg1/windowsamples/triceps_max;
+}
+
+int main()
+{
+    Ticker log_timer;
+    log_timer.attach(meting, TSAMP);
+    while(1) //Loop
+    {
+      
+    }
+}    
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